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This is a unique model which will be the machine-front of the coconut industry of Kerala and in turn will serve as a great help and boon to coconut farmers in Kerala.
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R.C. COCONUT HARVESTING DEVICE
USING ROBOTIC ARM
Guided by
PROF. C.P MUHAMMAD(Head of the Department, ME)
SHAZ MUHAMMAD R
Mobile : 9846926008
1
Introduction
This is a unique model which will be the machine-front
of the coconut industry of Kerala and in turn will serve
as a great help and boon to coconut farmers in Kerala.
It consist of a ANTHROPOMORPHIC arm.
2
Literary review
462 ideas around the nation
109 shortlisted
9 in number is classified
None is efficient as per
specifications put forward by
industrial department.
3
Relevance of this device
For harvesting coconuts in spite of conventional method.
Saves money
Remote controlled
Precise control and user friendly
Avoids the risk of accidents
4
System Components
Manipulator
Shoulder
Elbow
Wrist
Power supply
Control unit
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Robotic arm performs the function of cutting coconut’s spike and unnecessary branches.
Three degree of freedom.
This is an electrically driven robotic arm.
Consist of
Actuators
Camera attached to wrist
Motor & gear system
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Base motor (DC series motor)
Specifications
# Supply : 12 V
# Weight: 1650 gm
# Speed : 14 rpm
7
Geared motor Specifications
# Supply - 12v
# Torque
T1- 12kgcm
T2- 5kgcm
# Speed - 10 rpm
# Weight
W1 - 800gm
W2 – 600gm
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The controls are done by remote controlled (wired).
A 220V - AC supply is given to the 12 V battery adapter.
components of joystick
• Relay (x 2)
• Push –on switches (x2)
• Toggle switches (x 4)
9
Controls 4 toggle switches to select the motor
2 push-on switches to rotate the motor in clockwise and anti-clock wise direction
2 Relays(electrical switches) to compact the wiring system.
10
Working envelope of the arm
volume of the hemisphere formed = ⅔Πr3
= 224582.6 cm3
Where, r = Length of wrist +Length of elbow
= 20 cm+27.5 cm
= 47.5cm
11
ANGULAR VELOCITY
Angular velocity, ω = 2ΠN/60
For base motor, ω1 = 1.047 rad/sec
For elbow & wrist motors, ω 2 = ω 3 = 1.466 rad/sec
• REDUCTION RATIO
Desired reduction ratio = motor velocity/gear ratio
For base motor = 2.59 rad/sec
Elbow & wrist motor = 0.839 rad/sec
12
Gear ratio
Gear ratio : No. of teeth of Driver/ No. of teeth of driven
Base : 62/35 = 1.77
Elbow : 21/26 = 0.807
Wrist : 21/26 = 0.807
13
Design Considerations
To build a arm similar to human arm which can able to stand alone having similar size and not too bulky.
Less cost
Easy machining
14
Selection of arm material
The material used for the arm is taken as Mild Steel.
Its highly durable.
Its light weight in structure.
Can support more load.
Less cost.
15
Supporting link with bearings and driven gear
16
Link 1 connected to C- clamp
17
Geared motor connected with Link 1 using gears
18
Basic structure of the arm with link 1
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Dimensions
20
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COST ESTIMATION Geared motor (12kgcm) : Rs 1500
Geared motor (5kgcm) : Rs 600
DC series motor (14rpm, 12v ) : Rs 600
Bearings : Rs 160 (2 x 80)
Nuts and bolts : Rs 100
Links : Rs 150
Base shaft : Rs 60
Gears : Rs 100
Washers : Rs 18
Miscellaneous : Rs 448
Manufacturing cost : Rs 1880
Total = Rs 5616 /-
========= 22
Weight Of The System
Base plate + attachment - 2650gm
Link 1 - 1900gm
Link 2 - 1500gm
Total - 6050gm
============
23
Advantages & Limitations
Advantages Limitations
Easy to perform the operation
Compact system
Easy to attach to a climbing unit
Skilled operator is required
Limited payload
Friction at joints
24
Future modifications
• A rail to rotate the system around the trunk
• Climbing unit
• Project can be further improved by multidisciplinary project involving electronics, electrical and computer science.
25
References INDUSTRIAL ROBOTICS (MIKELL P. GROOVER) TATA McGraw-
HILL
BUILD YOUR OWN ROBOT (Lunt. K) AK PETERS Ltd. 2000
THEORY OF MACHINES AND MECHANISMS (Joseph Edward Shigley)
http://people.csail.mit.edu/etorresj/robot-obrero/
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